DVD Shrink do just that. You can either RIP FULL DVD or just the Movie content.
In your case you want the WHOLE THING including Menus, extras etc.... So use the FULL BACKUP.
It will shoved all contents to your HD, then when it ask you to insert a blank DVD, just cancel.
Goto where you shove it folder, rename folder to the movie title, drag the first file into the DVD player (Nero Showtime) and bingo, you get your WARNING, then the MENU.